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<div class="title">esf.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
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<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
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<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id: pfh.hpp 5027 2012-03-12 03:10:45Z rusu $</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURES_IMPL_ESF_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_FEATURES_IMPL_ESF_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/esf.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2distances_8h.html">pcl/common/distances.h</a>&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/common/transforms.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classpcl_1_1_e_s_f_estimation.html#a9243fc3893c034328cb71412adfd38c7">   52</a></span>&#160;<a class="code" href="classpcl_1_1_e_s_f_estimation.html#a9243fc3893c034328cb71412adfd38c7">pcl::ESFEstimation&lt;PointInT, PointOutT&gt;::computeESF</a> (</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;pc, std::vector&lt;float&gt; &amp;hist)</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;{</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> binsize = 64;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> sample_size = 20000;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  srand (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (time (0)));</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordtype">int</span> maxindex = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pc.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordtype">int</span> index1, index2, index3;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  std::vector&lt;float&gt; d2v, d1v, d3v, wt_d3;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  std::vector&lt;int&gt; wt_d2;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  d1v.reserve (sample_size);</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  d2v.reserve (sample_size * 3);</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  d3v.reserve (sample_size);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  wt_d2.reserve (sample_size * 3);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  wt_d3.reserve (sample_size);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordtype">float</span> h_in[binsize] = {0};</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keywordtype">float</span> h_out[binsize] = {0};</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordtype">float</span> h_mix[binsize] = {0};</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordtype">float</span> h_mix_ratio[binsize] = {0};</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordtype">float</span> h_a3_in[binsize] = {0};</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keywordtype">float</span> h_a3_out[binsize] = {0};</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordtype">float</span> h_a3_mix[binsize] = {0};</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordtype">float</span> h_d3_in[binsize] = {0};</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordtype">float</span> h_d3_out[binsize] = {0};</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordtype">float</span> h_d3_mix[binsize] = {0};</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordtype">float</span> ratio=0.0;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keywordtype">float</span> pih = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(M_PI) / 2.0f;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keywordtype">float</span> a,b,c,s;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordtype">int</span> th1,th2,th3;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="keywordtype">int</span> vxlcnt = 0;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keywordtype">int</span> pcnt1,pcnt2,pcnt3;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> nn_idx = 0; nn_idx &lt; sample_size; ++nn_idx)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  {</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="comment">// get a new random point</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    index1 = rand()%maxindex;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    index2 = rand()%maxindex;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    index3 = rand()%maxindex;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordflow">if</span> (index1==index2 || index1 == index3 || index2 == index3)</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      nn_idx--;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    }</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    Eigen::Vector4f p1 = pc.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index1].getVector4fMap ();</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    Eigen::Vector4f p2 = pc.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index2].getVector4fMap ();</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    Eigen::Vector4f p3 = pc.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index3].getVector4fMap ();</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="comment">// A3</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    Eigen::Vector4f v21 (p2 - p1);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    Eigen::Vector4f v31 (p3 - p1);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    Eigen::Vector4f v23 (p2 - p3);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    a = v21.norm (); b = v31.norm (); c = v23.norm (); s = (a+b+c) * 0.5f;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordflow">if</span> (s * (s-a) * (s-b) * (s-c) &lt;= 0.001f)</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        nn_idx--;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    }</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    v21.normalize ();</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    v31.normalize ();</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    v23.normalize ();</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="comment">//TODO: .dot gives nan&#39;s</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    th1 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pcl_round (acos (fabs (v21.dot (v31))) / pih * (binsize-1)));</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    th2 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pcl_round (acos (fabs (v23.dot (v31))) / pih * (binsize-1)));</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    th3 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pcl_round (acos (fabs (v23.dot (v21))) / pih * (binsize-1)));</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keywordflow">if</span> (th1 &lt; 0 || th1 &gt;= binsize)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      nn_idx--;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keywordflow">if</span> (th2 &lt; 0 || th2 &gt;= binsize)</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    {</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      nn_idx--;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="keywordflow">if</span> (th3 &lt; 0 || th3 &gt;= binsize)</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    {</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      nn_idx--;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="comment">// D2</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    d2v.push_back (<a class="code" href="common_2include_2pcl_2common_2distances_8h.html#a73e1d23717813eb053a0eb51411a4a23">pcl::euclideanDistance</a> (pc.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index1], pc.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index2]));</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    d2v.push_back (<a class="code" href="common_2include_2pcl_2common_2distances_8h.html#a73e1d23717813eb053a0eb51411a4a23">pcl::euclideanDistance</a> (pc.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index1], pc.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index3]));</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    d2v.push_back (<a class="code" href="common_2include_2pcl_2common_2distances_8h.html#a73e1d23717813eb053a0eb51411a4a23">pcl::euclideanDistance</a> (pc.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index2], pc.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index3]));</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keywordtype">int</span> vxlcnt_sum = 0;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keywordtype">int</span> p_cnt = 0;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="comment">// IN, OUT, MIXED, Ratio line tracing, index1-&gt;index2</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    {</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> xs = p1[0] &lt; 0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(p1[0])+GRIDSIZE_H): <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(p1[0])+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> ys = p1[1] &lt; 0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(p1[1])+GRIDSIZE_H): <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(p1[1])+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> zs = p1[2] &lt; 0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(p1[2])+GRIDSIZE_H): <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(p1[2])+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> xt = p2[0] &lt; 0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(p2[0])+GRIDSIZE_H): <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(p2[0])+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> yt = p2[1] &lt; 0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(p2[1])+GRIDSIZE_H): <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(p2[1])+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> zt = p2[2] &lt; 0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(p2[2])+GRIDSIZE_H): <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(p2[2])+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      wt_d2.push_back (this-&gt;lci (xs, ys, zs, xt, yt, zt, ratio, vxlcnt, pcnt1));</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <span class="keywordflow">if</span> (wt_d2.back () == 2)</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        h_mix_ratio[<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pcl_round (ratio * (binsize-1)))]++;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      vxlcnt_sum += vxlcnt;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      p_cnt += pcnt1;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    }</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="comment">// IN, OUT, MIXED, Ratio line tracing, index1-&gt;index3</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    {</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> xs = p1[0] &lt; 0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(p1[0])+GRIDSIZE_H): <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(p1[0])+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> ys = p1[1] &lt; 0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(p1[1])+GRIDSIZE_H): <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(p1[1])+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> zs = p1[2] &lt; 0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(p1[2])+GRIDSIZE_H): <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(p1[2])+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> xt = p3[0] &lt; 0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(p3[0])+GRIDSIZE_H): <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(p3[0])+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> yt = p3[1] &lt; 0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(p3[1])+GRIDSIZE_H): <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(p3[1])+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> zt = p3[2] &lt; 0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(p3[2])+GRIDSIZE_H): <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(p3[2])+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      wt_d2.push_back (this-&gt;lci (xs, ys, zs, xt, yt, zt, ratio, vxlcnt, pcnt2));</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="keywordflow">if</span> (wt_d2.back () == 2)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        h_mix_ratio[<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(pcl_round (ratio * (binsize-1)))]++;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      vxlcnt_sum += vxlcnt;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      p_cnt += pcnt2;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    }</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="comment">// IN, OUT, MIXED, Ratio line tracing, index2-&gt;index3</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    {</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> xs = p2[0] &lt; 0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(p2[0])+GRIDSIZE_H): <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(p2[0])+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> ys = p2[1] &lt; 0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(p2[1])+GRIDSIZE_H): <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(p2[1])+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> zs = p2[2] &lt; 0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(p2[2])+GRIDSIZE_H): <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(p2[2])+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> xt = p3[0] &lt; 0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(p3[0])+GRIDSIZE_H): <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(p3[0])+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> yt = p3[1] &lt; 0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(p3[1])+GRIDSIZE_H): <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(p3[1])+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> zt = p3[2] &lt; 0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(p3[2])+GRIDSIZE_H): <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(p3[2])+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      wt_d2.push_back (this-&gt;lci (xs,ys,zs,xt,yt,zt,ratio,vxlcnt,pcnt3));</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keywordflow">if</span> (wt_d2.back () == 2)</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        h_mix_ratio[<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(pcl_round(ratio * (binsize-1)))]++;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      vxlcnt_sum += vxlcnt;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      p_cnt += pcnt3;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    }</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="comment">// D3 ( herons formula )</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    d3v.push_back (std::sqrt (std::sqrt (s * (s-a) * (s-b) * (s-c))));</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="keywordflow">if</span> (vxlcnt_sum &lt;= 21)</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    {</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      wt_d3.push_back (0);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      h_a3_out[th1] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pcnt3) / 32.0f;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      h_a3_out[th2] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pcnt1) / 32.0f;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      h_a3_out[th3] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pcnt2) / 32.0f;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <span class="keywordflow">if</span> (p_cnt - vxlcnt_sum &lt; 4)</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      {</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        h_a3_in[th1] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pcnt3) / 32.0f;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        h_a3_in[th2] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pcnt1) / 32.0f;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        h_a3_in[th3] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pcnt2) / 32.0f;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        wt_d3.push_back (1);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      }</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      {</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        h_a3_mix[th1] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pcnt3) / 32.0f;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        h_a3_mix[th2] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pcnt1) / 32.0f;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        h_a3_mix[th3] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pcnt2) / 32.0f;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        wt_d3.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (vxlcnt_sum) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (p_cnt));</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  }</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  <span class="comment">// Normalizing, get max</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="keywordtype">float</span> maxd2 = 0;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  <span class="keywordtype">float</span> maxd3 = 0;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> nn_idx = 0; nn_idx &lt; sample_size; ++nn_idx)</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  {</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="comment">// get max of Dx</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <span class="keywordflow">if</span> (d2v[nn_idx] &gt; maxd2)</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      maxd2 = d2v[nn_idx];</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    <span class="keywordflow">if</span> (d2v[sample_size + nn_idx] &gt; maxd2)</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      maxd2 = d2v[sample_size + nn_idx];</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keywordflow">if</span> (d2v[sample_size*2 +nn_idx] &gt; maxd2)</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      maxd2 = d2v[sample_size*2 +nn_idx];</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <span class="keywordflow">if</span> (d3v[nn_idx] &gt; maxd3)</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      maxd3 = d3v[nn_idx];</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  }</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  <span class="comment">// Normalize and create histogram</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  <span class="keywordtype">int</span> index;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> nn_idx = 0; nn_idx &lt; sample_size; ++nn_idx)</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  {</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    <span class="keywordflow">if</span> (wt_d3[nn_idx] &gt;= 0.999) <span class="comment">// IN</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    {</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(pcl_round (d3v[nn_idx] / maxd3 * (binsize-1)));</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      <span class="keywordflow">if</span> (index &gt;= 0 &amp;&amp; index &lt; binsize)</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        h_d3_in[index]++;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    }</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    {</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      <span class="keywordflow">if</span> (wt_d3[nn_idx] &lt;= 0.001) <span class="comment">// OUT</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      {</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(pcl_round (d3v[nn_idx] / maxd3 * (binsize-1)));</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        <span class="keywordflow">if</span> (index &gt;= 0 &amp;&amp; index &lt; binsize)</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;          h_d3_out[index]++ ;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      }</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      {</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(pcl_round (d3v[nn_idx] / maxd3 * (binsize-1)));</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        <span class="keywordflow">if</span> (index &gt;= 0 &amp;&amp; index &lt; binsize)</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;          h_d3_mix[index]++;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      }</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    }</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  }</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  <span class="comment">//normalize and create histogram</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> nn_idx = 0; nn_idx &lt; d2v.size(); ++nn_idx )</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  {</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    <span class="keywordflow">if</span> (wt_d2[nn_idx] == 0)</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      h_in[<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(pcl_round (d2v[nn_idx] / maxd2 * (binsize-1)))]++ ;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    <span class="keywordflow">if</span> (wt_d2[nn_idx] == 1)</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      h_out[<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(pcl_round (d2v[nn_idx] / maxd2 * (binsize-1)))]++;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    <span class="keywordflow">if</span> (wt_d2[nn_idx] == 2)</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      h_mix[<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(pcl_round (d2v[nn_idx] / maxd2 * (binsize-1)))]++ ;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  }</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  <span class="comment">//float weights[10] = {1,  1,  1,  1,  1,  1,  1,  1 , 1 ,  1};</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  <span class="keywordtype">float</span> weights[10] = {0.5f, 0.5f, 0.5f, 0.5f, 0.5f, 1.0f,  1.0f, 2.0f, 2.0f, 2.0f};</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  hist.reserve (binsize * 10);</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; binsize; i++)</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    hist.push_back (h_a3_in[i] * weights[0]);</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; binsize; i++)</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    hist.push_back (h_a3_out[i] * weights[1]);</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; binsize; i++)</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    hist.push_back (h_a3_mix[i] * weights[2]);</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; binsize; i++)</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    hist.push_back (h_d3_in[i] * weights[3]);</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; binsize; i++)</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    hist.push_back (h_d3_out[i] * weights[4]);</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; binsize; i++)</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    hist.push_back (h_d3_mix[i] * weights[5]);</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; binsize; i++)</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    hist.push_back (h_in[i]*0.5f * weights[6]);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; binsize; i++)</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    hist.push_back (h_out[i] * weights[7]);</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; binsize; i++)</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    hist.push_back (h_mix[i] * weights[8]);</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; binsize; i++)</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    hist.push_back (h_mix_ratio[i]*0.5f * weights[9]);</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <span class="keywordtype">float</span> sm = 0;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; hist.size (); i++)</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    sm += hist[i];</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; hist.size (); i++)</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    hist[i] /= sm;</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;}</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00306"></a><span class="lineno"><a class="line" href="classpcl_1_1_e_s_f_estimation.html#ad0869dfa37c2b6bd6f856c2fef64bf7c">  306</a></span>&#160;<a class="code" href="classpcl_1_1_e_s_f_estimation.html#ad0869dfa37c2b6bd6f856c2fef64bf7c">pcl::ESFEstimation&lt;PointInT, PointOutT&gt;::lci</a> (</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> x1, <span class="keyword">const</span> <span class="keywordtype">int</span> y1, <span class="keyword">const</span> <span class="keywordtype">int</span> z1, </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> x2, <span class="keyword">const</span> <span class="keywordtype">int</span> y2, <span class="keyword">const</span> <span class="keywordtype">int</span> z2, </div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    <span class="keywordtype">float</span> &amp;ratio, <span class="keywordtype">int</span> &amp;incnt, <span class="keywordtype">int</span> &amp;pointcount)</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;{</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  <span class="keywordtype">int</span> voxelcount = 0;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  <span class="keywordtype">int</span> voxel_in = 0;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;  <span class="keywordtype">int</span> act_voxel[3];</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  act_voxel[0] = x1;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  act_voxel[1] = y1;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  act_voxel[2] = z1;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  <span class="keywordtype">int</span> x_inc, y_inc, z_inc;</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  <span class="keywordtype">int</span> dx = x2 - x1;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  <span class="keywordtype">int</span> dy = y2 - y1;</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  <span class="keywordtype">int</span> dz = z2 - z1;</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  <span class="keywordflow">if</span> (dx &lt; 0)</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    x_inc = -1;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    x_inc = 1;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  <span class="keywordtype">int</span> l = abs (dx);</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  <span class="keywordflow">if</span> (dy &lt; 0)</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    y_inc = -1 ;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    y_inc = 1;</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  <span class="keywordtype">int</span> m = abs (dy);</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  <span class="keywordflow">if</span> (dz &lt; 0)</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    z_inc = -1 ;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    z_inc = 1;</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  <span class="keywordtype">int</span> n = abs (dz);</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;  <span class="keywordtype">int</span> dx2 = 2 * l;</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  <span class="keywordtype">int</span> dy2 = 2 * m;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  <span class="keywordtype">int</span> dz2 = 2 * n;</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;  <span class="keywordflow">if</span> ((l &gt;= m) &amp; (l &gt;= n))</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;  {</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    <span class="keywordtype">int</span> err_1 = dy2 - l;</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    <span class="keywordtype">int</span> err_2 = dz2 - l;</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1; i&lt;l; i++)</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;    {</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;      voxelcount++;;</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;      voxel_in +=  <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(lut_[act_voxel[0]][act_voxel[1]][act_voxel[2]] == 1);</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;      <span class="keywordflow">if</span> (err_1 &gt; 0)</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;      {</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;        act_voxel[1] += y_inc;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        err_1 -=  dx2;</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;      }</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      <span class="keywordflow">if</span> (err_2 &gt; 0)</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      {</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;        act_voxel[2] += z_inc;</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;        err_2 -= dx2;</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;      }</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      err_1 += dy2;</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;      err_2 += dz2;</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;      act_voxel[0] += x_inc;</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    }</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;  }</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((m &gt;= l) &amp; (m &gt;= n))</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  {</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    <span class="keywordtype">int</span> err_1 = dx2 - m;</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    <span class="keywordtype">int</span> err_2 = dz2 - m;</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=1; i&lt;m; i++)</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    {</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      voxelcount++;</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      voxel_in +=  <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(lut_[act_voxel[0]][act_voxel[1]][act_voxel[2]] == 1);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;      <span class="keywordflow">if</span> (err_1 &gt; 0)</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;      {</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;        act_voxel[0] +=  x_inc;</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;        err_1 -= dy2;</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;      }</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;      <span class="keywordflow">if</span> (err_2 &gt; 0)</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      {</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;        act_voxel[2] += z_inc;</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        err_2 -= dy2;</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;      }</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;      err_1 += dx2;</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;      err_2 += dz2;</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;      act_voxel[1] += y_inc;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;    }</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  }</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  {</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;    <span class="keywordtype">int</span> err_1 = dy2 - n;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    <span class="keywordtype">int</span> err_2 = dx2 - n;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=1; i&lt;n; i++)</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;    {</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;      voxelcount++;</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;      voxel_in +=  <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(lut_[act_voxel[0]][act_voxel[1]][act_voxel[2]] == 1);</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;      <span class="keywordflow">if</span> (err_1 &gt; 0)</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      {</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        act_voxel[1] += y_inc;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;        err_1 -= dz2;</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;      }</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;      <span class="keywordflow">if</span> (err_2 &gt; 0)</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      {</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;        act_voxel[0] += x_inc;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;        err_2 -= dz2;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      }</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;      err_1 += dy2;</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;      err_2 += dx2;</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;      act_voxel[2] += z_inc;</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    }</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;  }</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;  voxelcount++;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;  voxel_in +=  <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(lut_[act_voxel[0]][act_voxel[1]][act_voxel[2]] == 1);</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;  incnt = voxel_in;</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;  pointcount = voxelcount;</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160; </div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;  <span class="keywordflow">if</span> (voxel_in &gt;=  voxelcount-1)</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;    <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160; </div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;  <span class="keywordflow">if</span> (voxel_in &lt;= 7)</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;    <span class="keywordflow">return</span> (1);</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160; </div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;  ratio = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(voxel_in) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(voxelcount);</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  <span class="keywordflow">return</span> (2);</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;}</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160; </div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00425"></a><span class="lineno"><a class="line" href="classpcl_1_1_e_s_f_estimation.html#ac1c8d8d942f99673371f96e0dcc57705">  425</a></span>&#160;<a class="code" href="classpcl_1_1_e_s_f_estimation.html#ac1c8d8d942f99673371f96e0dcc57705">pcl::ESFEstimation&lt;PointInT, PointOutT&gt;::voxelize9</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;cluster)</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;{</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;  <span class="keywordtype">int</span> xi,yi,zi,xx,yy,zz;</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cluster.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;  {</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    xx = cluster.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x&lt;0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(cluster.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x)+GRIDSIZE_H) : <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(cluster.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x)+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;    yy = cluster.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y&lt;0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(cluster.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y)+GRIDSIZE_H) : <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(cluster.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y)+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;    zz = cluster.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z&lt;0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(cluster.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z)+GRIDSIZE_H) : <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(cluster.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z)+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160; </div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x = -1; x &lt; 2; x++)</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y = -1; y &lt; 2; y++)</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> z = -1; z &lt; 2; z++)</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;        {</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;          xi = xx + x;</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;          yi = yy + y;</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;          zi = zz + z;</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160; </div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;          <span class="keywordflow">if</span> (yi &gt;= GRIDSIZE || xi &gt;= GRIDSIZE || zi&gt;=GRIDSIZE || yi &lt; 0 || xi &lt; 0 || zi &lt; 0)</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;          {</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;            ;</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;          }</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;            this-&gt;lut_[xi][yi][zi] = 1;</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;        }</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;  }</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;}</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160; </div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00454"></a><span class="lineno"><a class="line" href="classpcl_1_1_e_s_f_estimation.html#ad7a79ec865e97ac900803f026c75f8e9">  454</a></span>&#160;<a class="code" href="classpcl_1_1_e_s_f_estimation.html#ad7a79ec865e97ac900803f026c75f8e9">pcl::ESFEstimation&lt;PointInT, PointOutT&gt;::cleanup9</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;cluster)</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;{</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;  <span class="keywordtype">int</span> xi,yi,zi,xx,yy,zz;</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cluster.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;  {</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;    xx = cluster.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x&lt;0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(cluster.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x)+GRIDSIZE_H) : <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(cluster.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x)+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;    yy = cluster.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y&lt;0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(cluster.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y)+GRIDSIZE_H) : <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(cluster.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y)+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;    zz = cluster.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z&lt;0.0? <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor(cluster.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z)+GRIDSIZE_H) : <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(ceil(cluster.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z)+GRIDSIZE_H-1);</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160; </div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x = -1; x &lt; 2; x++)</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y = -1; y &lt; 2; y++)</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> z = -1; z &lt; 2; z++)</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;        {</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;          xi = xx + x;</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;          yi = yy + y;</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;          zi = zz + z;</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160; </div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;          <span class="keywordflow">if</span> (yi &gt;= GRIDSIZE || xi &gt;= GRIDSIZE || zi&gt;=GRIDSIZE || yi &lt; 0 || xi &lt; 0 || zi &lt; 0)</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;          {</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;            ;</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;          }</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;            this-&gt;lut_[xi][yi][zi] = 0;</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;        }</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;  }</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;}</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160; </div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00483"></a><span class="lineno"><a class="line" href="classpcl_1_1_e_s_f_estimation.html#acaed7e05b4bacf4211d6bfbfb8d246f0">  483</a></span>&#160;<a class="code" href="classpcl_1_1_e_s_f_estimation.html#acaed7e05b4bacf4211d6bfbfb8d246f0">pcl::ESFEstimation&lt;PointInT, PointOutT&gt;::scale_points_unit_sphere</a> (</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;pc, <span class="keywordtype">float</span> scalefactor, Eigen::Vector4f&amp; centroid)</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;{</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;  <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a> (pc, centroid);</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">pcl::demeanPointCloud</a> (pc, centroid, local_cloud_);</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160; </div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;  <span class="keywordtype">float</span> max_distance = 0, d;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> cog (0, 0, 0);</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160; </div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; local_cloud_.points.size (); ++i)</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;  {</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;    d = <a class="code" href="common_2include_2pcl_2common_2distances_8h.html#a73e1d23717813eb053a0eb51411a4a23">pcl::euclideanDistance</a>(cog,local_cloud_.points[i]);</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;    <span class="keywordflow">if</span> (d &gt; max_distance)</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;      max_distance = d;</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;  }</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160; </div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;  <span class="keywordtype">float</span> scale_factor = 1.0f / max_distance * scalefactor;</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160; </div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;  Eigen::Affine3f matrix = Eigen::Affine3f::Identity();</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;  matrix.scale (scale_factor);</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;  <a class="code" href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a> (local_cloud_, local_cloud_, matrix);</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;}</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160; </div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00508"></a><span class="lineno"><a class="line" href="classpcl_1_1_e_s_f_estimation.html#a81326b9eedf99476ef5487d3d9aa61c6">  508</a></span>&#160;<a class="code" href="classpcl_1_1_e_s_f_estimation.html#a81326b9eedf99476ef5487d3d9aa61c6">pcl::ESFEstimation&lt;PointInT, PointOutT&gt;::compute</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;{</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::initCompute</a> ())</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;  {</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 0;</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear ();</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;  }</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;  <span class="comment">// Copy the header</span></div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a> = input_-&gt;header;</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160; </div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;  <span class="comment">// Resize the output dataset</span></div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;  <span class="comment">// Important! We should only allocate precisely how many elements we will need, otherwise</span></div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;  <span class="comment">// we risk at pre-allocating too much memory which could lead to bad_alloc </span></div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;  <span class="comment">// (see http://dev.pointclouds.org/issues/657)</span></div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = input_-&gt;is_dense;</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (1);</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160; </div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;  <span class="comment">// Perform the actual feature computation</span></div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;  computeFeature (output);</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160; </div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;  <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::deinitCompute</a> ();</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;}</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160; </div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160; </div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00536"></a><span class="lineno"><a class="line" href="classpcl_1_1_e_s_f_estimation.html#add5fc555792e145f8395eaea7c423a6f">  536</a></span>&#160;<a class="code" href="classpcl_1_1_e_s_f_estimation.html#add5fc555792e145f8395eaea7c423a6f">pcl::ESFEstimation&lt;PointInT, PointOutT&gt;::computeFeature</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;{</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;  Eigen::Vector4f xyz_centroid;</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;  std::vector&lt;float&gt; hist;</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;  scale_points_unit_sphere (*surface_, <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(GRIDSIZE_H), xyz_centroid);</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;  this-&gt;voxelize9 (local_cloud_);</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;  this-&gt;computeESF (local_cloud_, hist);</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;  this-&gt;cleanup9 (local_cloud_);</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160; </div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;  <span class="comment">// We only output _1_ signature</span></div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (1);</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = 1;</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160; </div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> d = 0; d &lt; hist.size (); ++d)</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].histogram[d] = hist[d];</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;}</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160; </div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_ESFEstimation(T,OutT) template class PCL_EXPORTS pcl::ESFEstimation&lt;T,OutT&gt;;</span></div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160; </div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_FEATURES_IMPL_ESF_H_</span></div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_e_s_f_estimation_html_a81326b9eedf99476ef5487d3d9aa61c6"><div class="ttname"><a href="classpcl_1_1_e_s_f_estimation.html#a81326b9eedf99476ef5487d3d9aa61c6">pcl::ESFEstimation::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Overloaded computed method from pcl::Feature.</div><div class="ttdef"><b>Definition:</b> esf.hpp:508</div></div>
<div class="ttc" id="aclasspcl_1_1_e_s_f_estimation_html_a9243fc3893c034328cb71412adfd38c7"><div class="ttname"><a href="classpcl_1_1_e_s_f_estimation.html#a9243fc3893c034328cb71412adfd38c7">pcl::ESFEstimation::computeESF</a></div><div class="ttdeci">void computeESF(PointCloudIn &amp;pc, std::vector&lt; float &gt; &amp;hist)</div><div class="ttdoc">...</div><div class="ttdef"><b>Definition:</b> esf.hpp:52</div></div>
<div class="ttc" id="aclasspcl_1_1_e_s_f_estimation_html_ac1c8d8d942f99673371f96e0dcc57705"><div class="ttname"><a href="classpcl_1_1_e_s_f_estimation.html#ac1c8d8d942f99673371f96e0dcc57705">pcl::ESFEstimation::voxelize9</a></div><div class="ttdeci">void voxelize9(PointCloudIn &amp;cluster)</div><div class="ttdoc">...</div><div class="ttdef"><b>Definition:</b> esf.hpp:425</div></div>
<div class="ttc" id="aclasspcl_1_1_e_s_f_estimation_html_acaed7e05b4bacf4211d6bfbfb8d246f0"><div class="ttname"><a href="classpcl_1_1_e_s_f_estimation.html#acaed7e05b4bacf4211d6bfbfb8d246f0">pcl::ESFEstimation::scale_points_unit_sphere</a></div><div class="ttdeci">void scale_points_unit_sphere(const pcl::PointCloud&lt; PointInT &gt; &amp;pc, float scalefactor, Eigen::Vector4f &amp;centroid)</div><div class="ttdoc">...</div><div class="ttdef"><b>Definition:</b> esf.hpp:483</div></div>
<div class="ttc" id="aclasspcl_1_1_e_s_f_estimation_html_ad0869dfa37c2b6bd6f856c2fef64bf7c"><div class="ttname"><a href="classpcl_1_1_e_s_f_estimation.html#ad0869dfa37c2b6bd6f856c2fef64bf7c">pcl::ESFEstimation::lci</a></div><div class="ttdeci">int lci(const int x1, const int y1, const int z1, const int x2, const int y2, const int z2, float &amp;ratio, int &amp;incnt, int &amp;pointcount)</div><div class="ttdoc">...</div><div class="ttdef"><b>Definition:</b> esf.hpp:306</div></div>
<div class="ttc" id="aclasspcl_1_1_e_s_f_estimation_html_ad7a79ec865e97ac900803f026c75f8e9"><div class="ttname"><a href="classpcl_1_1_e_s_f_estimation.html#ad7a79ec865e97ac900803f026c75f8e9">pcl::ESFEstimation::cleanup9</a></div><div class="ttdeci">void cleanup9(PointCloudIn &amp;cluster)</div><div class="ttdoc">...</div><div class="ttdef"><b>Definition:</b> esf.hpp:454</div></div>
<div class="ttc" id="aclasspcl_1_1_e_s_f_estimation_html_add5fc555792e145f8395eaea7c423a6f"><div class="ttname"><a href="classpcl_1_1_e_s_f_estimation.html#add5fc555792e145f8395eaea7c423a6f">pcl::ESFEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Estimate the Ensebmel of Shape Function (ESF) descriptors at a set of points given by &lt;setInputCloud ...</div><div class="ttdef"><b>Definition:</b> esf.hpp:536</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a82e0be055a617e5e74102ed62712b352"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">pcl::PointCloud::header</a></div><div class="ttdeci">pcl::PCLHeader header</div><div class="ttdoc">The point cloud header. It contains information about the acquisition time.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:407</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2distances_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2distances_8h.html">distances.h</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2distances_8h_html_a73e1d23717813eb053a0eb51411a4a23"><div class="ttname"><a href="common_2include_2pcl_2common_2distances_8h.html#a73e1d23717813eb053a0eb51411a4a23">pcl::euclideanDistance</a></div><div class="ttdeci">float euclideanDistance(const PointType1 &amp;p1, const PointType2 &amp;p2)</div><div class="ttdoc">Calculate the euclidean distance between the two given points.</div><div class="ttdef"><b>Definition:</b> distances.h:196</div></div>
<div class="ttc" id="agroup__common_html_ga52d532f7f2b4d7bba78d13701d3a33d8"><div class="ttname"><a href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a></div><div class="ttdeci">void transformPointCloud(const pcl::PointCloud&lt; PointT &gt; &amp;cloud_in, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, const Eigen::Transform&lt; Scalar, 3, Eigen::Affine &gt; &amp;transform, bool copy_all_fields=true)</div><div class="ttdoc">Apply an affine transform defined by an Eigen Transform</div><div class="ttdef"><b>Definition:</b> transforms.hpp:42</div></div>
<div class="ttc" id="agroup__common_html_ga7f82fbd4e17063ab86287a2543bdea88"><div class="ttname"><a href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">pcl::demeanPointCloud</a></div><div class="ttdeci">void demeanPointCloud(ConstCloudIterator&lt; PointT &gt; &amp;cloud_iterator, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, int npts=0)</div><div class="ttdoc">Subtract a centroid from a point cloud and return the de-meaned representation</div><div class="ttdef"><b>Definition:</b> centroid.hpp:631</div></div>
<div class="ttc" id="agroup__common_html_gaf5729fae15603888b49743b118025290"><div class="ttname"><a href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a></div><div class="ttdeci">unsigned int compute3DCentroid(ConstCloudIterator&lt; PointT &gt; &amp;cloud_iterator, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the 3D (X-Y-Z) centroid of a set of points and return it as a 3D vector.</div><div class="ttdef"><b>Definition:</b> centroid.hpp:50</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
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